Unmanned intelligent cluster joint trajectory design method

Abstract

The invention provides an unmanned intelligent cluster joint trajectory design method. The method comprises the following steps: obtaining a user set served by each unmanned aerial vehicle through a k-means grouping method; introducing an SHF structure to reconstruct an unmanned aerial vehicle trajectory, and constructing a joint trajectory optimization problem with unmanned aerial vehicle trajectory points as optimization variables; according to the service user set of each unmanned aerial vehicle, obtaining an initial iteration track of each unmanned aerial vehicle by solving a TSP problem; converting an optimization problem into a convex problem by adopting a continuous convex approximation method; and substituting the initial iteration trajectory of each unmanned aerial vehicle into an optimization problem for solving, and obtaining a cluster joint optimal trajectory. According to the method, the task time of the unmanned cluster can be remarkably shortened, so that the energy consumption and the damage probability are reduced, the calculation pressure and the control difficulty of a control center are reduced due to the low complexity of the method, and the method has extremely high economic benefits and wide application prospects.

Description

technical field [0001] The invention belongs to the field of unmanned swarm cooperative control, and in particular relates to a joint trajectory design method of an unmanned intelligent swarm. Background technique [0002] The rapid development of big data technology has played an important role in the intelligentization of society. For example, by analyzing the traffic flow, hydrology and other information sensed by sensors installed in cities, oceans and other areas, intelligent management and control of urban traffic and rational development of the ocean can be realized. However, how to effectively offload sensor data is a key issue, especially in areas where cellular networks cannot cover, and the control center cannot collect device data through direct wireless transmission. Therefore, it is of great significance to study new data collection methods for this type of area. [0003] Thanks to the rapid development of drone communication technology, using drones to unload...

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Problems solved by technology

[0005] Facing the future big data collection scenarios, and aiming at the current lack of collection methods in areas that cannot be covered by cellular networks, the present invention provides a data collection system based on a joint UAV cluster and platform, aiming at improving the security of data collection, applicable and the degree of intelligence, and propose a joint trajectory design scheme for unmanned swarms, which reduces the complexity of trajectory design and improves the efficiency of data collection by introducing the continuous hovering flight structure SHF

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